CN107463177A - Control mobile method, apparatus and system - Google Patents
Control mobile method, apparatus and system Download PDFInfo
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- CN107463177A CN107463177A CN201710721926.3A CN201710721926A CN107463177A CN 107463177 A CN107463177 A CN 107463177A CN 201710721926 A CN201710721926 A CN 201710721926A CN 107463177 A CN107463177 A CN 107463177A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Mobile method, apparatus and system are controlled the disclosure is directed to a kind of, belongs to field of computer technology.Methods described includes：There is the moving map in region based on the mark prestored, move in the target area, wherein, the moving map is the map of the target area；When detecting the border for being moved in the moving map forbidden moves region marked, this equipment is controlled to be moved to other regions in the target area in addition to the forbidden moves region.Using the disclosure, the possibility that sweeping robot damages can be reduced.
Description
Technical field
The disclosure is directed to field of computer technology, and mobile method, apparatus and system are controlled especially with respect to a kind of.
Background technology
It is various to occur therewith with the smart machine for automatically moving function with the development of computer technology, such as sweeper
Device people etc., there is the appearance for the smart machine for automatically moving function to be brought great convenience to the life of people for these.
In the prior art, sweeping robot is during work, typically random movement, and sweeping robot is by sensing
Device perceives the barrier in front, and certain distance has barrier in front of sensor senses, and sweeping robot is then drawn back, and court
Another direction is moved, and when sensor senses all is clear ahead, sweeping robot will go ahead movement, and carry out
Cleaning operation.
Based on above-mentioned working method, as long as sweeping robot detects all is clear ahead, will continue to move forward,
And cleaning operation is carried out, so, user forgets to close the door in the room of the ponding such as toilet or kitchen, sweeping robot sometimes
The room of ponding can be entered, sweeping robot is possible into water, so as to cause sweeping robot to damage.
The content of the invention
In order to overcome problem present in correlation technique, present disclose provides a kind of mobile method, apparatus of control and it is
System.Technical scheme is as follows：
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of to control mobile method, methods described includes：
There is the moving map in region based on the mark prestored, move in the target area, wherein,
The moving map is the map of the target area；
When detecting the border for being moved in the moving map forbidden moves region marked, this equipment is controlled to move
Other regions into the target area in addition to the forbidden moves region.
Optionally, the moving map for being had region based on the mark prestored, is entered in the target area
Before row is mobile, in addition to：
Autonomous is carried out in the target area, and in moving process, based on range sensor detection and obstacle
The distance between thing；Believed according to the distance, described equipment position point relative to the position of default benchmark charge point
Breath, determine the positional information of barrier；The positional information of the barrier detected in moving process is sent in the terminal；
When receiving the moving map that the terminal is sent, the moving map is preserved.
Optionally, described this equipment of control is moved to other in addition to the forbidden moves region in the target area
Region, including：
This equipment is controlled to turn over predetermined angle on current moving direction, along turning over the direction after predetermined angle forward
It is mobile, it is moved to other regions in addition to the forbidden moves region in the target area.
So, it can prevent smart machine from entering ponding room.
Optionally, described this equipment of control is moved to other in addition to the forbidden moves region in the target area
Region, including：
Control this equipment to fall back traveling, be moved to other areas in addition to the forbidden moves region in the target area
Domain.
So, it can prevent smart machine from entering ponding room.
According to the second aspect of the embodiment of the present disclosure, there is provided a kind of to control mobile method, methods described includes：
Receive the positional information of the barrier detected during smart machine moves in the target area；
Based on the positional information of the barrier, moving map corresponding to the target area is determined；
When receiving the forbidden zone mark instructions of first area in the moving map, in the moving map by described in
First area is labeled as forbidden moves region；
The moving map for being marked with forbidden moves region is sent to the smart machine.
Optionally, the positional information based on the barrier, moving map corresponding to the target area is determined, wrapped
Include：
When it is determined that the smart machine completely moves preset times in the target area, based on what is received every time
The positional information of barrier, the moving map for including maximum moving area corresponding to the target area is determined, wherein, it is described
Complete movement refers to the movement that all reachable regions in the target area are have passed through in moving process.
So, the moving map determined can be made more accurate.
According to the third aspect of the embodiment of the present disclosure, there is provided a kind of smart machine, the smart machine include：
First mobile module, for there is the moving map in region based on the mark prestored, in target area
Moved in domain, wherein, the moving map is the map of the target area；
Second mobile module, the border that the forbidden moves region marked is moved in the moving map is detected for working as
When, control this equipment to be moved to other regions in the target area in addition to the forbidden moves region.
Optionally, the smart machine also includes：
Detection module, for carrying out autonomous in the target area, and in moving process, based on Distance-sensing
Device detects the distance between barrier；
Determining module, for according to the distance, described equipment position point relative to default benchmark charge point
Positional information, determine the positional information of barrier；The position of the barrier detected in moving process is sent in the terminal
Confidence ceases；
Memory module, for when receiving the moving map that the terminal is sent, being carried out to the moving map
Preserve.
Optionally, second mobile module, is used for：
This equipment is controlled to turn over predetermined angle on current moving direction, along turning over the direction after predetermined angle forward
It is mobile, it is moved to other regions in addition to the forbidden moves region in the target area.
Optionally, second mobile module, is used for：
Control this equipment to fall back traveling, be moved to other areas in addition to the forbidden moves region in the target area
Domain.
According to the fourth aspect of the embodiment of the present disclosure, there is provided a kind of terminal, the terminal include：
Receiving module, for receiving the position of the barrier detected during smart machine moves in the target area
Information；
Determining module, for the positional information based on the barrier, determine moving map corresponding to the target area；
Mark module, for when receiving the forbidden zone mark instructions of first area in the moving map, in the shifting
The first area is labeled as forbidden moves region in dynamic map；
Sending module, the moving map in forbidden moves region is marked with for being sent to the smart machine.
Optionally, the determining module, is used for：
When it is determined that the smart machine completely moves preset times in the target area, based on what is received every time
The positional information of barrier, the moving map for including maximum moving area corresponding to the target area is determined, wherein, it is described
Complete movement refers to the movement that all reachable regions in the target area are have passed through in moving process.
According to the 5th of the embodiment of the present disclosure the aspect, there is provided a kind of to control mobile system, the system includes intelligence and set
Standby and terminal, wherein：
The smart machine, such as the smart machine described in the above-mentioned third aspect；
The terminal, such as the terminal described in above-mentioned fourth aspect.
According to the 6th of the embodiment of the present disclosure the aspect, there is provided a kind of computer-readable recording medium, it is described computer-readable
Storage medium is stored with least one instruction, at least one section of program, code set or instruction set, and described at least one instructs, be described
At least one section of program, the code set or instruction set is loaded by the processor and performed to realize control as described in relation to the first aspect
Make mobile method.
According to the 7th of the embodiment of the present disclosure the aspect, there is provided a kind of computer-readable recording medium, it is described computer-readable
Storage medium is stored with least one instruction, at least one section of program, code set or instruction set, and described at least one instructs, be described
At least one section of program, the code set or instruction set is loaded as the processor and performed to realize the control as described in second aspect
Make mobile method.
According to the eighth aspect of the embodiment of the present disclosure, there is provided a kind of smart machine, the smart machine include processor and
Memory, is stored with least one instruction, at least one section of program, code set or instruction set in the memory, and described at least one
Bar instruction, at least one section of program, the code set or the instruction set are loaded by the processor and performed to realize such as first
The method of control movement described in aspect.
According to the 9th of the embodiment of the present disclosure the aspect, there is provided a kind of terminal, the terminal include processor and memory, institute
State and at least one instruction, at least one section of program, code set or instruction set are stored with memory, at least one instruction, institute
At least one section of program, the code set or instruction set is stated to be loaded as the processor and performed to realize as described in second aspect
Control mobile method.
The technical scheme provided by this disclosed embodiment can include the following benefits：
In the embodiment of the present disclosure, there is the moving map in region based on the mark prestored, in target area
In move, wherein, moving map be target area map, when detect be moved to marked in moving map forbid moving
During the border in dynamic region, this equipment is controlled to be moved in target area other regions in addition to forbidden moves region.So, move
Forbidden moves region can be marked in dynamic map, sweeping robot is moved based on moving map, is being moved to forbidden moves
During the border in region, forbidden moves region can be avoided, so as to which sweeping robot will not enter ponding room, and then reduces damage
Possibility.
It should be appreciated that the general description and following detailed description of the above are only exemplary and explanatory, not
The disclosure can be limited.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used to together with specification to explain the principle of the disclosure.In the accompanying drawings：
Fig. 1 is a kind of system scenarios figure according to an exemplary embodiment；
Fig. 2 is a kind of flow chart of the method for control movement according to an exemplary embodiment；
Fig. 3 is a kind of schematic diagram of sweeping robot movement according to an exemplary embodiment；
Fig. 4 is a kind of flow chart of the method for control movement according to an exemplary embodiment；
Fig. 5 is a kind of schematic diagram of moving map according to an exemplary embodiment；
Fig. 6 is a kind of structural representation of smart machine according to an exemplary embodiment；
Fig. 7 is a kind of structural representation of smart machine according to an exemplary embodiment；
Fig. 8 is a kind of structural representation of terminal according to an exemplary embodiment；
Fig. 9 is a kind of structural representation of smart machine according to an exemplary embodiment；
Figure 10 is a kind of structural representation of terminal according to an exemplary embodiment.
Pass through above-mentioned accompanying drawing, it has been shown that the clear and definite embodiment of the disclosure, will hereinafter be described in more detail.These accompanying drawings
It is not intended to limit the scope of disclosure design by any mode with word description, but is by reference to specific embodiment
Those skilled in the art illustrate the concept of the disclosure.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the disclosure.
The exemplary embodiment of the disclosure one provides a kind of method for controlling movement, as shown in figure 1, the method that control is carried out
It can be realized jointly by smart machine and terminal.
Smart machine can be with the smart machine for automatically moving function, such as sweeping robot.Can in smart machine
To be provided with moving parts, range sensor, processor, transceiver and memory.Moving parts can be used for smart machine
It is mobile, the parts such as feeder wheel, deflecting roller, motor can be included, moving parts can be electrically connected with processor, by processor
Control；Range sensor can be used for detecting the distance between smart machine and barrier, and range sensor can be LDS
(Laser Direct Structuring, laser direct structuring technique) distance measuring sensor, transceiver can be used for transmitting and
Receive information；Processor can be used for performing corresponding processing to control smart machine to move；Memory can be used for storage and move
Issuable data in the data and processing procedure that are received during dynamic.Dust collecting port can also be included in smart machine
Part, display unit, input block etc..Dust suction part is used to carry out dust suction in moving process, and display unit is used to show work
During relevant information, input block is used for input instruction, and relevant control is carried out to smart machine.
Terminal can be the control terminal of smart machine, can be smart mobile phone, tablet personal computer etc., can be set in terminal
There are processor, transceiver and memory.Transceiver can be used for transmitting and receive information；Processor can be used for performing control
The processing of moving process；Memory can be used for storing in moving process in the data and processing procedure that receive there may be
Data.Display unit and input block etc. can also be included in terminal, display unit is used for the work shape for showing smart machine
State etc., input block are used for input instruction etc., and relevant control is carried out to smart machine.
In the present embodiment so that smart machine is sweeping robot, terminal is mobile phone as an example, the detailed description of scheme is carried out, its
Its situation is similar therewith, and the present embodiment is not repeated.
Before being implemented, user can install the management application program of smart machine in the terminal, be swept the floor for managing
Robot, user can open the management application program installed in terminal, terminal then can display management application program login circle
Face, user can input logon account and login password, then click on and confirm button, triggering terminal display management application program
Main interface, the equipment bound, addition option and some other options are shown in the main interface.User, which can click on, to be added
Adding option, triggering terminal searches neighbouring equipment by Bluetooth function, and terminal can be shown in interface finds all devices,
User can click on selection option corresponding to the sweeping robot to be bound, after terminal receives click commands, pass through management
The background server (can subsequently be referred to as server) of application program sends bind request to sweeping robot.Sweeping robot
After receiving bind request, bind request can be shown, and corresponding bind request display confirms option, user can click on confirmation
Option, after sweeping robot receives the click commands for confirming option, binding acknowledgement can be sent to terminal by server and disappeared
Breath, server record terminal are the binding terminal of sweeping robot, and such terminal establishes binding relationship with sweeping robot.
As shown in Fig. 2 the handling process of this method can include the steps：
In step 201, smart machine has the moving map in region based on the mark prestored, in target
Moved in region.
Wherein, target area is arbitrary region, and target area is home dwelling region in the embodiment of the present disclosure, and family lives
Quarter domain includes multiple rooms.Moving map is the map of target area, and moving map includes the barrier in target area
Relative to the positional information of the benchmark charge point of sweeping robot, positional information can be position coordinates etc., and benchmark charge point is
The default location point for sweeping robot charging.Moving map can be sent to sweeping robot by user's operating handset,
Sweeping robot is preserved, and mark has the positional information on the border in region, forbidden moves area in moving map
Domain can mark (labeling process is described in detail later) by user on moving map, and forbidden moves region is usually that can make to sweep
The region that floor-washing robot is damaged, such as toilet, the region of the easy ponding in kitchen.
In force, user wants to carry out cleaning target area using sweeping robot, can place sweeping robot
In the target area, then sweeping robot is opened in operation, and when sweeping robot detects enabled instruction, sweeping robot then can
The moving map prestored is searched, starts to move according to the moving map prestored, and cleaned in moving process
Operation.
In addition, user wants to carry out cleaning target area using sweeping robot, machine of sweeping the floor can be inputted on mobile phone
The cleaning instruction of people, after mobile phone receives cleaning instruction, the cleaning that sweeping robot can be sent to server is asked.Server connects
After the cleaning request for receiving mobile phone transmission, the sweeping robot with handset binding can be searched, is then sent to sweeping robot clear
Sweep request.After sweeping robot receives cleaning request, the moving map prestored can be searched, according to the movement prestored
Map starts to move, and cleaning operation is carried out in moving process.
In addition, user can also set the cleaning time started of sweeping robot, this section that user stays out such as is arranged on
Cleaned etc. in time, after user inputs the cleaning instruction of sweeping robot on mobile phone, mobile phone receives sweeping robot
Cleaning instruction when, can show and clean time option, such as clean option now, set and clean time option etc..User if it is desired to
Set and clean the time, setting can be clicked on and clean option, mobile phone can then receive the click commands for setting and cleaning option, then
Display cleans time input frame, and user, which can input, cleans the time, then clicks confirmation button, mobile phone can then receive confirmation by
The click commands of key, the cleaning that sweeping robot is then sent to server is asked, and is carried in request is cleaned and cleaned the time.
After server receives the cleaning request of mobile phone transmission, the sweeping robot with handset binding can be searched, then to machine of sweeping the floor
People, which sends, cleans request.After sweeping robot receives cleaning request, the time can be cleaned from parsing in request is cleaned, when
When time point is cleans the time, the moving map prestored can be searched, starts to move according to the moving map prestored, and
Cleaning operation is carried out in moving process.
In step 202, smart machine works as the border for detecting and being moved to the forbidden moves region marked in moving map
When, control this equipment to be moved in target area other regions in addition to forbidden moves region.
In force, sweeping robot persistently detects itself position point and charged relative to benchmark in moving process
The positional information of point, positional information can be position coordinates of itself position point etc., such as the position coordinates of benchmark charge point
For (0,0), using benchmark charge point as the origin of coordinates, direct north is the longitudinal axis, and due east direction is that transverse axis establishes rectangular coordinate system, is swept
Floor-washing robot first northwards move 1 meter, after eastwards move 1 meter, the position coordinates that can record present position point is (1,1).
When the position coordinates for detecting present position point is identical with the position coordinates on the border in forbidden moves region,
Determine itself to be moved to the border in forbidden moves region.Then it can control and itself not continue to move forward, and be moved to
Other regions in target area in addition to forbidden moves region.For example, forbidden moves region is toilet region, border
It is then the doorway of toilet, when detecting the doorway for being moved to toilet, traveling can be fallen back, or turn over certain angle
Afterwards, continue to move forward.
Optionally, the method for controlling this equipment to be moved in target area other regions in addition to forbidden moves region has
It is a variety of, following two feasible modes are provided in the embodiment of the present disclosure：
Mode one：This equipment is controlled to turn over predetermined angle on current moving direction, along after turning over predetermined angle
Direction moves forward, and is moved in target area other regions in addition to forbidden moves region.
Wherein, predetermined angle is the angle turned over when continuing to move to after smart machine is moved to the border in forbidden moves region
Degree, can be preset by technical staff, and be stored into smart machine, such as 60 degree, 90 degree etc..
In force, when the position for the position coordinates and the border in forbidden moves region for detecting present position point is sat
When marking identical, determine itself to be moved to the border in forbidden moves region.The deflecting roller of itself can be controlled to turn over predetermined angle, so
Afterwards towards the direction after predetermined angle is turned over, other regions in addition to forbidden moves region are moved in target area.For example,
As shown in figure 3, predetermined angle is 90 degree, can be when reach when detecting the border for itself being moved to forbidden moves region
90 degree are turned on dynamic direction, then proceedes to move forward, is moved to other in addition to forbidden moves region in target area
Region.
Mode two：Control this equipment to fall back traveling, be moved in target area other areas in addition to forbidden moves region
Domain.
In force, when the position for the position coordinates and the border in forbidden moves region for detecting present position point is sat
When marking identical, determine itself to be moved to forbidden moves zone boundary.Retroversion can be controlled to travel, be moved in target area except taboo
Only other moving areas of moving area.
Furthermore it is possible to after controlling control to fall back one segment distance of traveling, predetermined angle (predetermined angle and mode one are then turned over
In predetermined angle it is identical, here is omitted), moved along the direction after predetermined angle is turned over.
In the embodiment of the present invention, sweeping robot when cleaning target area every time, the position that will can also pass through every time
The position coordinates of point is sent to mobile phone, after mobile phone receives the position coordinates of sweeping robot transmission, can be added position coordinates
It is added in the rectangular coordinate system of above-mentioned foundation, so, user can see the purging zone of sweeping robot.
Optionally, in the embodiment of the present disclosure, the positional information and mobile phone of sweeping robot detection barrier are additionally provided
The process of the moving map of target area is determined, as shown in figure 4, corresponding step processing can be as follows：
In step 401, smart machine carries out autonomous in the target area, and in moving process, based on distance
Sensor detects the distance between barrier；According to distance, this equipment position point relative to default benchmark charge point
Positional information, determine the positional information of barrier；The position letter of the barrier detected in moving process is sent in terminal
Breath.
In force, sweeping robot is placed on benchmark charge point by user, and sweeping robot is opened in then control, is swept the floor
Robot carries out autonomous in the target area, and in moving process, it is determined that each location point itself passed through is relative
In the positional information (position coordinates for generally assuming that benchmark charge point is (0,0)) of benchmark charge point, and use range sensor
360 degree are horizontally outward launched laser, and the recording laser direction of the launch, and when receiving the laser reflected, can use should
Formula L=v*t/2, be calculated barrier present on Laser emission direction and itself the distance between, L be barrier with from
The distance between body, v are the transmission speed of laser, and t is laser from the transmission for being transmitted into the duration, i.e. laser that itself receive again
Duration.Then using each location point itself relative to the distance between the positional information of benchmark charge point, itself and barrier,
It can determine that the positional information of barrier corresponding to each location point.For example, it is (0,0) that benchmark, which fills a position coordinates for point, from
The position coordinates of body position point is (12, -10), and the barrier detected is 1 meter with the distance of itself, and relative to certainly
The current moving direction of body deflects to the right on 45 degree of direction (positive direction that current moving direction is x), the positional information of barrier
For (12.7, -10.7).
After sweeping robot determines the positional information of barrier, the positional information of the barrier can be sent to server.
After server receives the positional information of the barrier, the terminal with sweeping robot binding can be searched, then by barrier
Positional information send to terminal.
In step 402, the barrier that terminal reception smart machine detects during moving in the target area
Positional information.
In step 403, positional information of the terminal based on barrier, moving map corresponding to target area is determined.
In force, the positional information of barrier is the position coordinates of barrier, and mobile phone determines the position of benchmark charge point
Coordinate is (0,0), and using benchmark charge point as the origin of coordinates, direct north is the longitudinal axis, and due east direction is that transverse axis establishes rectangular co-ordinate
System.Then the position coordinates of barrier is marked in rectangular coordinate system, the coordinate of barrier is then formed into enclosed region, such as
The position coordinates for the location point that fruit sweeping robot is passed through is not fallen within the enclosed region to be formed, then can be by this section
Field mark is the region where barrier, so, has just obtained the moving map of target area, obstacle is included in the moving map
Region where thing.For example, as shown in figure 5, the center position of target area has a cupboard, surrounding is all wall except door,
Region where cupboard then will be obstacles to the region where thing, and the surrounding of target area is barrier.
Optionally, the obstacle information of transmission can be repeatedly cleaned based on smart machine, to determine the movement of target area
Map, the processing of corresponding step 403 can be as follows：
When it is determined that smart machine completely moves preset times in the target area, based on the barrier received every time
Positional information, determine the moving map for including maximum moving area corresponding to target area.
Wherein, complete movement refers to the movement that all reachable regions in target area are have passed through in moving process, that is, sweeps
Floor-washing robot is detected in target area without reachable region.Preset times can be preset by technical staff, and store to
In mobile phone, such as 5 times, 6 inferior.
In force, when sweeping robot moves in the target area, independently move, and carry out cleaning behaviour
Make, until the position of the position coordinates for detecting reached location point and some location point reached in current moving process
Coordinate is identical, and sweeping robot determines complete movement once, is then sent to mobile phone and cleans completion notice.Mobile phone, which receives, sweeps the floor
During the cleaning completion notice that robot is sent, the reception number for cleaning completion notice can be added 1, cleaned when mobile phone receives
When reaching preset times into the number of notice, can the positional information based on the barrier received every time, it is determined that sending every time
Barrier positional information corresponding to moving map (positional information based on barrier, determine the process of moving map in step
It has been described in detail in rapid 403, here is omitted).
Then using benchmark charge point as the origin of coordinates, direct north is the longitudinal axis, and due east direction is the right angle that transverse axis is established
In coordinate system, union is taken to the moving area in the moving map of each moving process, what is obtained may move area comprising maximum
The moving map in domain.
Furthermore it is also possible to the area in the unduplicated region passed through using sweeping robot, judge sweeping robot this
Whether secondary movement is complete movement, and corresponding processing can be as follows：
User can input the area of target area in sweeping robot, when sweeping robot passed through it is unduplicated
When the area in region reaches the 85 percent of the area of target area, it is believed that sweeping robot this time movement is complete
It is mobile.
In step 404, terminal is when receiving the forbidden zone mark instructions of first area in moving map, in moving map
It is middle that first area is labeled as forbidden moves region.
Wherein, first area is the region that user is not intended to sweeping robot entrance, and usually toilet, kitchen etc. is easy
The room of ponding.
In force, in the management application program of mobile phone installation, forbidden zone function is provided with, user can operate unlatching and prohibit
Area's function, mobile phone can then detect the open command of forbidden zone function.Then moving map is shown, user can be in moving map
In, setting-out on the border of first area, mobile phone can then detect the forbidden zone mark instructions of first area, then in moving map
First area is labeled as forbidden moves region, and the borderline each position point of recording prohibition moving area is relative to benchmark
The position coordinates of charge point, the moving map after mark is preserved.
In step 405, terminal sends the moving map for being marked with forbidden moves region to smart machine.
In a step 406, smart machine preserves when receiving the moving map of terminal transmission to moving map.
In force, when smart machine receives the moving map of terminal transmission, moving map can be preserved, and this is moved
Map when dynamic map is defined as cleaning next time.
In the embodiment of the present disclosure, there is the moving map in region based on the mark prestored, in target area
In move, wherein, moving map be target area map, when detect be moved to marked in moving map forbid moving
During the border in dynamic region, this equipment is controlled to be moved in target area other regions in addition to forbidden moves region.So, move
Forbidden moves region can be marked in dynamic map, sweeping robot is moved based on moving map, is being moved to forbidden moves
During the border in region, forbidden moves region can be avoided, so as to which sweeping robot will not enter ponding room, and then reduces damage
Possibility.
Based on identical technical concept, disclosure another exemplary embodiment, which provides, additionally provides a kind of smart machine,
As shown in fig. 6, the smart machine includes：
First mobile module 610, for there is the moving map in region based on the mark prestored, in target
Moved in region, wherein, the moving map is the map of the target area；
Second mobile module 620, the forbidden moves region marked is moved in the moving map for that ought detect
During border, this equipment is controlled to be moved to other regions in the target area in addition to the forbidden moves region.
Optionally, as shown in fig. 7, the smart machine also includes：
Detection module 630, for carrying out autonomous in the target area, and in moving process, based on distance
Sensor detects the distance between barrier；
Determining module 640, for being charged according to the distance, described equipment position point relative to default benchmark
The positional information of point, determine the positional information of barrier；The barrier that is detected in moving process is sent in the terminal
Positional information；
Memory module 650, for when receiving the moving map that the terminal is sent, entering to the moving map
Row preserves.
Optionally, second mobile module 620, is used for：
This equipment is controlled to turn over predetermined angle on current moving direction, along turning over the direction after predetermined angle forward
It is mobile, it is moved to other regions in addition to the forbidden moves region in the target area.
Optionally, second mobile module 620, is used for：
Control this equipment to fall back traveling, be moved to other areas in addition to the forbidden moves region in the target area
Domain.
In the embodiment of the present disclosure, there is the moving map in region based on the mark prestored, in target area
In move, wherein, moving map be target area map, when detect be moved to marked in moving map forbid moving
During the border in dynamic region, this equipment is controlled to be moved in target area other regions in addition to forbidden moves region.So, move
Forbidden moves region can be marked in dynamic map, sweeping robot is moved based on moving map, is being moved to forbidden moves
During the border in region, forbidden moves region can be avoided, so as to which sweeping robot will not enter ponding room, and then reduces damage
Possibility.
It should be noted that：The smart machine that above-described embodiment provides is when controlling mobile, only with above-mentioned each functional module
Division progress for example, in practical application, can be complete by different functional modules by above-mentioned function distribution as needed
Into the internal structure of smart machine being divided into different functional modules, to complete all or part of work(described above
Energy.In addition, smart machine and the embodiment of the method for control movement that above-described embodiment provides belong to same design, it is implemented
Process refers to embodiment of the method, repeats no more here.
The another exemplary embodiment of the disclosure, which provides, additionally provides a kind of terminal, as shown in figure 8, the terminal includes：
Receiving module 810, for receiving the barrier detected during smart machine moves in the target area
Positional information；
Determining module 820, for the positional information based on the barrier, determine corresponding to the target area movably
Figure；
Mark module 830, for when receiving the forbidden zone mark instructions of first area in the moving map, described
The first area is labeled as forbidden moves region in moving map；
Sending module 840, the moving map in forbidden moves region is marked with for being sent to the smart machine.
Optionally, the determining module 820, is used for：
When it is determined that the smart machine completely moves preset times in the target area, based on what is received every time
The positional information of barrier, the moving map for including maximum moving area corresponding to the target area is determined, wherein, it is described
Complete movement refers to the movement that all reachable regions in the target area are have passed through in moving process.
In the embodiment of the present disclosure, there is the moving map in region based on the mark prestored, in target area
In move, wherein, moving map be target area map, when detect be moved to marked in moving map forbid moving
During the border in dynamic region, this equipment is controlled to be moved in target area other regions in addition to forbidden moves region.So, move
Forbidden moves region can be marked in dynamic map, sweeping robot is moved based on moving map, is being moved to forbidden moves
During the border in region, forbidden moves region can be avoided, so as to which sweeping robot will not enter ponding room, and then reduces damage
Possibility.
It should be noted that：The terminal that above-described embodiment provides is when controlling mobile, only with stroke of above-mentioned each functional module
Divide and be illustrated, in practical application, can be completed as needed and by above-mentioned function distribution by different functional modules, i.e.,
The internal structure of terminal is divided into different functional modules, to complete all or part of function described above.On in addition,
The terminal and the embodiment of the method for control movement for stating embodiment offer belong to same design, and its specific implementation process refers to method reality
Example is applied, is repeated no more here.
The another exemplary embodiment of the disclosure provides a kind of structural representation of smart machine.The smart machine can be
Sweeping robot etc..
Reference picture 9, smart machine 900 can include following one or more assemblies：Processing component 902, memory 904,
Power supply module 906, multimedia groupware 908, audio-frequency assembly 910, the interface 912 of input/output (I/O), sensor cluster 914,
And communication component 916.
Processing component 902 generally controls the integrated operation of smart machine 900, such as leads to display, call, data
The operation that letter, camera operation and record operation are associated.Treatment element 902 can include one or more processors 920 to hold
Row instruction, to complete all or part of step of above-mentioned method.In addition, processing component 902 can include one or more moulds
Block, the interaction being easy between processing component 902 and other assemblies.For example, processing component 902 can include multi-media module, with
Facilitate the interaction between multimedia groupware 908 and processing component 902.
Memory 904 is configured as storing various types of data to support the operation in smart machine 900.These data
Example include being used for the instruction of any application program or method operated on smart machine 900, contact data, telephone directory
Data, message, picture, video etc..Memory 904 can by any kind of volatibility or non-volatile memory device or it
Combination realize, as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM) are erasable
Except programmable read only memory (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, soon
Flash memory, disk or CD.
Electric power assembly 906 provides electric power for the various assemblies of smart machine 900.Electric power assembly 906 can include power supply pipe
Reason system, one or more power supplys, and other groups associated with generating, managing and distributing electric power for audio output apparatus 900
Part.
Multimedia groupware 908 is included in the screen of one output interface of offer between the smart machine 900 and user.
In certain embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch surface
Plate, screen may be implemented as touch-screen, to receive the input signal from user.Touch panel includes one or more touch
Sensor is with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sensing touch or slip
The border of action, but also detect the duration and pressure related to the touch or slide.In certain embodiments,
Multimedia groupware 908 includes a front camera and/or rear camera.When smart machine 900 is in operator scheme, such as clap
When taking the photograph pattern or video mode, front camera and/or rear camera can receive outside multi-medium data.It is each preposition
Camera and rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio-frequency assembly 910 is configured as output and/or input audio signal.For example, audio-frequency assembly 910 includes a Mike
Wind (MIC), when audio output apparatus 900 is in operator scheme, during such as call model, logging mode and speech recognition mode, wheat
Gram wind is configured as receiving external audio signal.The audio signal received can be further stored in memory 904 or warp
Sent by communication component 916.
I/O interfaces 912 provide interface between processing component 902 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock
Determine button.
Sensor cluster 914 includes one or more sensors, for providing the state of various aspects for smart machine 900
Assess.For example, sensor cluster 914 can detect opening/closed mode of smart machine 900, the relative positioning of component, example
Such as the display and keypad that the component is smart machine 900, sensor cluster 914 can also detect smart machine 900 or
The position of 900 1 components of smart machine changes, the existence or non-existence that user contacts with smart machine 900, smart machine 900
The temperature change of orientation or acceleration/deceleration and smart machine 900.Sensor cluster 914 can include proximity transducer, be configured
For detecting the presence of object nearby in no any physical contact.Sensor cluster 914 can also include optical sensor,
Such as CMOS or ccd image sensor, for being used in imaging applications.In certain embodiments, the sensor cluster 914 may be used also
With including acceleration transducer, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 916 is configured to facilitate the communication of wired or wireless way between smart machine 900 and other equipment.
Smart machine 900 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.Show at one
In example property embodiment, communication component 916 receives broadcast singal or broadcast from external broadcasting management system via broadcast channel
Relevant information.In one exemplary embodiment, the communication component 916 also includes near-field communication (NFC) module, short to promote
Cheng Tongxin.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module
(UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, smart machine 900 can be by one or more application specific integrated circuits (ASIC), number
Word signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instructing, example are additionally provided
Such as include the memory 904 of instruction, above-mentioned instruction can be performed to complete the above method by the processor 920 of smart machine 900.Example
Such as, the non-transitorycomputer readable storage medium can be ROM, it is random access memory (RAM), CD-ROM, tape, soft
Disk and optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by the processing of smart machine
When device performs so that smart machine is able to carry out above-mentioned method, and this method includes：
There is the moving map in region based on the mark prestored, move in the target area, wherein,
The moving map is the map of the target area；
When detecting the border for being moved in the moving map forbidden moves region marked, this equipment is controlled to move
Other regions into the target area in addition to the forbidden moves region.
Optionally, the moving map for being had region based on the mark prestored, is entered in the target area
Before row is mobile, in addition to：
Autonomous is carried out in the target area, and in moving process, based on range sensor detection and obstacle
The distance between thing；Believed according to the distance, described equipment position point relative to the position of default benchmark charge point
Breath, determine the positional information of barrier；The positional information of the barrier detected in moving process is sent in the terminal；
When receiving the moving map that the terminal is sent, the moving map is preserved.
Optionally, described this equipment of control is moved to other in addition to the forbidden moves region in the target area
Region, including：
This equipment is controlled to turn over predetermined angle on current moving direction, along turning over the direction after predetermined angle forward
It is mobile, it is moved to other regions in addition to the forbidden moves region in the target area.
Optionally, described this equipment of control is moved to other in addition to the forbidden moves region in the target area
Region, including：
Control this equipment to fall back traveling, be moved to other areas in addition to the forbidden moves region in the target area
Domain.
In the embodiment of the present disclosure, there is the moving map in region based on the mark prestored, in target area
In move, wherein, moving map be target area map, when detect be moved to marked in moving map forbid moving
During the border in dynamic region, this equipment is controlled to be moved in target area other regions in addition to forbidden moves region.So, move
Forbidden moves region can be marked in dynamic map, sweeping robot is moved based on moving map, is being moved to forbidden moves
During the border in region, forbidden moves region can be avoided, so as to which sweeping robot will not enter ponding room, and then reduces damage
Possibility.
The another exemplary embodiment of the disclosure provides a kind of structural representation of terminal.The terminal can be mobile phone etc..
Reference picture 10, terminal 1000 can include following one or more assemblies：Processing component 1002, memory 1004,
Power supply module 1006, multimedia groupware 1008, audio-frequency assembly 1010, the interface 1012 of input/output (I/O), sensor cluster
1014, and communication component 1016.
Processing component 1002 generally controls the integrated operation of terminal 1000, is such as communicated with display, call, data,
The operation that camera operation and record operation are associated.Treatment element 1002 can include one or more processors 1020 to perform
Instruction, to complete all or part of step of above-mentioned method.In addition, processing component 1002 can include one or more moulds
Block, the interaction being easy between processing component 1002 and other assemblies.For example, processing component 1002 can include multi-media module,
To facilitate the interaction between multimedia groupware 1008 and processing component 1002.
Memory 1004 is configured as storing various types of data to support the operation in terminal 1000.These data
Example includes being used for the instruction of any application program or method operated in terminal 1000, contact data, telephone book data,
Message, picture, video etc..Memory 1004 can by any kind of volatibility or non-volatile memory device or they
Combination is realized, such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), it is erasable can
Program read-only memory (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, flash memory
Reservoir, disk or CD.
Electric power assembly 1006 provides electric power for the various assemblies of terminal 1000.Electric power assembly 1006 can include power management
System, one or more power supplys, and other groups associated with generating, managing and distributing electric power for audio output apparatus 1000
Part.
Multimedia groupware 1008 is included in the screen of one output interface of offer between the terminal 1000 and user.
In some embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel,
Screen may be implemented as touch-screen, to receive the input signal from user.Touch panel includes one or more touch and passed
Sensor is with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sensing touch or slip be dynamic
The border of work, but also detect the duration and pressure related to the touch or slide.In certain embodiments, it is more
Media component 1008 includes a front camera and/or rear camera.When terminal 1000 is in operator scheme, mould is such as shot
When formula or video mode, front camera and/or rear camera can receive outside multi-medium data.Each preposition shooting
Head and rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio-frequency assembly 1010 is configured as output and/or input audio signal.For example, audio-frequency assembly 1010 includes a wheat
Gram wind (MIC), when audio output apparatus 1000 is in operator scheme, during such as call model, logging mode and speech recognition mode,
Microphone is configured as receiving external audio signal.The audio signal received can be further stored in memory 1004 or
Sent via communication component 1016.
I/O interfaces 1012 provide interface, above-mentioned peripheral interface module between processing component 1002 and peripheral interface module
Can be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and
Locking press button.
Sensor cluster 1014 includes one or more sensors, and the state for providing various aspects for terminal 1000 is commented
Estimate.For example, sensor cluster 1014 can detect opening/closed mode of terminal 1000, the relative positioning of component, such as institute
The display and keypad that component is terminal 1000 are stated, sensor cluster 1014 can be with detection terminal 1000 or terminal 1,000 1
The position of individual component changes, the existence or non-existence that user contacts with terminal 1000, the orientation of terminal 1000 or acceleration/deceleration and end
The temperature change at end 1000.Sensor cluster 1014 can include proximity transducer, be configured in no any physics
The presence of object nearby is detected during contact.Sensor cluster 1014 can also include optical sensor, as CMOS or ccd image are sensed
Device, for being used in imaging applications.In certain embodiments, the sensor cluster 1014 can also include acceleration sensing
Device, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 1016 is configured to facilitate the communication of wired or wireless way between terminal 1000 and other equipment.Eventually
End 1000 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.It is exemplary at one
In embodiment, communication component 1016 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel
Information.In one exemplary embodiment, the communication component 1016 also includes near-field communication (NFC) module, to promote short distance
Communication.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module
(UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, terminal 1000 can be by one or more application specific integrated circuits (ASIC), numeral
Signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instructing, example are additionally provided
Such as include the memory 1004 of instruction, above-mentioned instruction can be performed to complete the above method by the processor 1020 of terminal 1000.Example
Such as, the non-transitorycomputer readable storage medium can be ROM, it is random access memory (RAM), CD-ROM, tape, soft
Disk and optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is held by the processor of terminal
During row so that terminal is able to carry out above-mentioned method, and this method includes：
Receive the positional information of the barrier detected during smart machine moves in the target area；
Based on the positional information of the barrier, moving map corresponding to the target area is determined；
When receiving the forbidden zone mark instructions of first area in the moving map, in the moving map by described in
First area is labeled as forbidden moves region；
The moving map for being marked with forbidden moves region is sent to the smart machine.
Optionally, the positional information based on the barrier, moving map corresponding to the target area is determined, wrapped
Include：
When it is determined that the smart machine completely moves preset times in the target area, based on what is received every time
The positional information of barrier, the moving map for including maximum moving area corresponding to the target area is determined, wherein, it is described
Complete movement refers to the movement that all reachable regions in the target area are have passed through in moving process.
In the embodiment of the present disclosure, there is the moving map in region based on the mark prestored, in target area
In move, wherein, moving map be target area map, when detect be moved to marked in moving map forbid moving
During the border in dynamic region, this equipment is controlled to be moved in target area other regions in addition to forbidden moves region.So, move
Forbidden moves region can be marked in dynamic map, sweeping robot is moved based on moving map, is being moved to forbidden moves
During the border in region, forbidden moves region can be avoided, so as to which sweeping robot will not enter ponding room, and then reduces damage
Possibility.
Those skilled in the art will readily occur to the disclosure its after considering specification and putting into practice disclosure disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledges in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the precision architecture that the disclosure is not limited to be described above and is shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (17)
1. a kind of control mobile method, it is characterised in that methods described includes：
There is the moving map in region based on the mark prestored, move in the target area, wherein, it is described
Moving map is the map of the target area；
When detecting the border for being moved in the moving map forbidden moves region marked, this equipment is controlled to be moved to institute
State other regions in addition to the forbidden moves region in target area.
2. according to the method for claim 1, it is characterised in that described that region is had based on the mark prestored
Moving map, before moving in the target area, in addition to：
Autonomous is carried out in the target area, and in moving process, based on range sensor detection and barrier it
Between distance；According to the distance, described equipment position point relative to default benchmark charge point positional information, really
Determine the positional information of barrier；The positional information of the barrier detected in moving process is sent in the terminal；
When receiving the moving map that the terminal is sent, the moving map is preserved.
3. according to the method for claim 1, it is characterised in that described this equipment of control, which is moved in the target area, to be removed
Other regions outside the forbidden moves region, including：
This equipment is controlled to turn over predetermined angle on current moving direction, along turning over the direction after predetermined angle to reach
It is dynamic, it is moved to other regions in addition to the forbidden moves region in the target area.
4. according to the method for claim 1, it is characterised in that described this equipment of control, which is moved in the target area, to be removed
Other regions outside the forbidden moves region, including：
Control this equipment to fall back traveling, be moved to other regions in addition to the forbidden moves region in the target area.
5. a kind of control mobile method, it is characterised in that methods described includes：
Receive the positional information of the barrier detected during smart machine moves in the target area；
Based on the positional information of the barrier, moving map corresponding to the target area is determined；
When receiving the forbidden zone mark instructions of first area in the moving map, by described first in the moving map
Zone marker is forbidden moves region；
The moving map for being marked with forbidden moves region is sent to the smart machine.
6. according to the method for claim 5, it is characterised in that the positional information based on the barrier, determine institute
Moving map corresponding to target area is stated, including：
When it is determined that the smart machine completely moves preset times in the target area, based on the obstacle received every time
The positional information of thing, the moving map for including maximum moving area corresponding to the target area is determined, wherein, it is described complete
It is mobile to refer to the movement that all reachable regions in the target area are have passed through in moving process.
7. a kind of smart machine, it is characterised in that the smart machine includes：
First mobile module, for there is the moving map in region based on the mark prestored, in the target area
Move, wherein, the moving map is the map of the target area；
Second mobile module, for when detecting the border for being moved in the moving map forbidden moves region marked,
This equipment is controlled to be moved to other regions in the target area in addition to the forbidden moves region.
8. smart machine according to claim 7, it is characterised in that the smart machine also includes：
Detection module, for carrying out autonomous in the target area, and in moving process, examined based on range sensor
Survey the distance between barrier；
Determining module, for according to the distance, described equipment position point relative to default benchmark charge point position
Confidence ceases, and determines the positional information of barrier；Believe the position that the barrier detected in moving process is sent in the terminal
Breath；
Memory module, for when receiving the moving map that the terminal is sent, being preserved to the moving map.
9. smart machine according to claim 7, it is characterised in that second mobile module, be used for：
This equipment is controlled to turn over predetermined angle on current moving direction, along turning over the direction after predetermined angle to reach
It is dynamic, it is moved to other regions in addition to the forbidden moves region in the target area.
10. smart machine according to claim 7, it is characterised in that second mobile module, be used for：
Control this equipment to fall back traveling, be moved to other regions in addition to the forbidden moves region in the target area.
11. a kind of terminal, it is characterised in that the terminal includes：
Receiving module, the position for receiving the barrier detected during smart machine moves in the target area are believed
Breath；
Determining module, for the positional information based on the barrier, determine moving map corresponding to the target area；
Mark module, for when receiving the forbidden zone mark instructions of first area in the moving map, it is described movably
The first area is labeled as forbidden moves region in figure；
Sending module, the moving map in forbidden moves region is marked with for being sent to the smart machine.
12. terminal according to claim 11, it is characterised in that the determining module, be used for：
When it is determined that the smart machine completely moves preset times in the target area, based on the obstacle received every time
The positional information of thing, the moving map for including maximum moving area corresponding to the target area is determined, wherein, it is described complete
It is mobile to refer to the movement that all reachable regions in the target area are have passed through in moving process.
13. a kind of control mobile system, it is characterised in that the system includes smart machine and terminal, wherein：
The smart machine, the smart machine as described in any in the claim 7-10；
The terminal, the terminal as described in any in the claim 10-12.
14. a kind of computer-readable recording medium, it is characterised in that at least one instruction, extremely is stored with the storage medium
Few one section of program, code set or instruction set, at least one instruction, at least one section of program, the code set or the instruction
Collection is loaded by the processor and performed to realize the method for the control movement as described in Claims 1-4 is any.
15. a kind of computer-readable recording medium, it is characterised in that at least one instruction, extremely is stored with the storage medium
Few one section of program, code set or instruction set, at least one instruction, at least one section of program, the code set or the instruction
Collection is loaded by the processor and performed to realize the method for the control movement as described in claim 5 to 6 is any.
16. a kind of smart machine, it is characterised in that the smart machine includes processor and memory, is deposited in the memory
Contain at least one instruction, at least one section of program, code set or instruction set, at least one instruction, at least one section of journey
Sequence, the code set or instruction set are loaded by the processor and performed to realize the control as described in Claims 1-4 is any
Mobile method.
17. a kind of terminal, it is characterised in that the terminal includes processor and memory, is stored with least in the memory
One instruction, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, the generation
Code collection or instruction set are loaded by the processor and performed to realize the side of the control movement as described in claim 5 to 6 is any
Method.
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| CN108401499A (en) * | 2018-02-12 | 2018-08-14 | 北京小米移动软件有限公司 | Determine the methods, devices and systems of location information |
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| CN109276190A (en) * | 2018-10-23 | 2019-01-29 | 中国人民解放军陆军工程大学 | UWB-based floor sweeping robot monitoring method and equipment thereof |
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| CN109298716A (en) * | 2018-11-23 | 2019-02-01 | 珠海市微半导体有限公司 | A kind of the planning cleaning method and chip of robot |
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